Research Of Robot Obstacle Avoidance Planning Based On Evolutionary Computing And Visibility Graph

The mobile robot has been used in many fields, such as military, industry, agricultureand service industry more and more widely with the continuous development of society, asthe basic of safe operation and high efficiency for robot in various environments, obstacleavoidance planning in recent years has become the focus of research in the field of robot.The key of obstacle avoidance planning is to formulate feasible strategy, so that, accordingto a certain standard, the robot can move from the start point to the target point withoutcollision, so, this paper studies a method to solve the mobile robot obstacle avoidanceplanning problem based on the combination of clone selection algorithm and visual graph,in the course of the study, set the length of path as the standard of obstacle avoidanceplanning results, hunt for optimal path in a structured environment, then control the entityrobot base on the optimal path. The purpose of the study is to find out the optimal pathbetween the start point and the target point, according to which, the entity mobile robot canmove without collision, finally, realize the development of mobile robot system.As the mobile robot path planning problem is nonlinear, multi standard and difficultto obtain the global optimum path, so there is some difficulty to solve this problem usingtraditional method. While the clone selection of artificial immune system algorithm cantake various factors into consideration, and find optimal solutions through continuousoptimization of the population, at the same time, clone selection has the characteristics ofdiversity, robustness and distribution, so, the algorithm can fully meet the needs of theobstacle avoiding planning problem for mobile robot. But the traditional clone selectionalgorithm has remarkable shortcoming: slow speed of convergence. In order to solve thisproblem, the traditional clone selection algorithm is improved in this paper, then,combine it with the visibility graph method, the improved algorithm can find for theoptimal path and significantly improve the efficiency. This paper realize roaming behavior and target tracking behavior of mobile robot,then, apply the obstacle avoidance planning method for mobile robot based on cloneselection and visibility graph in different environment, prove that the algorithm can meetrequirements of robot obstacle avoidance planning, finally, control entity robot accordingto optimal path, prove that this algorithm can satisfy the needs of entity robot in the realenvironment.